93,459 research outputs found
Modular and predictable assembly of porous organic molecular crystals
Nanoporous molecular frameworks are important in applications such as separation, storage and catalysis. Empirical rules exist for their assembly but it is still challenging to place and segregate functionality in three-dimensional porous solids in a predictable way. Indeed, recent studies of mixed crystalline frameworks suggest a preference for the statistical distribution of functionalities throughout the pores rather than, for example, the functional group localization found in the reactive sites of enzymes. This is a potential limitation for 'one-pot' chemical syntheses of porous frameworks from simple starting materials. An alternative strategy is to prepare porous solids from synthetically preorganized molecular pores. In principle, functional organic pore modules could be covalently prefabricated and then assembled to produce materials with specific properties. However, this vision of mix-and-match assembly is far from being realized, not least because of the challenge in reliably predicting three-dimensional structures for molecular crystals, which lack the strong directional bonding found in networks. Here we show that highly porous crystalline solids can be produced by mixing different organic cage modules that self-assemble by means of chiral recognition. The structures of the resulting materials can be predicted computationally, allowing in silico materials design strategies. The constituent pore modules are synthesized in high yields on gram scales in a one-step reaction. Assembly of the porous co-crystals is as simple as combining the modules in solution and removing the solvent. In some cases, the chiral recognition between modules can be exploited to produce porous organic nanoparticles. We show that the method is valid for four different cage modules and can in principle be generalized in a computationally predictable manner based on a lock-and-key assembly between modules
Uniform Random Sampling of Traces in Very Large Models
This paper presents some first results on how to perform uniform random walks
(where every trace has the same probability to occur) in very large models. The
models considered here are described in a succinct way as a set of
communicating reactive modules. The method relies upon techniques for counting
and drawing uniformly at random words in regular languages. Each module is
considered as an automaton defining such a language. It is shown how it is
possible to combine local uniform drawings of traces, and to obtain some global
uniform random sampling, without construction of the global model
Policy Enforcement with Proactive Libraries
Software libraries implement APIs that deliver reusable functionalities. To
correctly use these functionalities, software applications must satisfy certain
correctness policies, for instance policies about the order some API methods
can be invoked and about the values that can be used for the parameters. If
these policies are violated, applications may produce misbehaviors and failures
at runtime. Although this problem is general, applications that incorrectly use
API methods are more frequent in certain contexts. For instance, Android
provides a rich and rapidly evolving set of APIs that might be used incorrectly
by app developers who often implement and publish faulty apps in the
marketplaces. To mitigate this problem, we introduce the novel notion of
proactive library, which augments classic libraries with the capability of
proactively detecting and healing misuses at run- time. Proactive libraries
blend libraries with multiple proactive modules that collect data, check the
correctness policies of the libraries, and heal executions as soon as the
violation of a correctness policy is detected. The proactive modules can be
activated or deactivated at runtime by the users and can be implemented without
requiring any change to the original library and any knowledge about the
applications that may use the library. We evaluated proactive libraries in the
context of the Android ecosystem. Results show that proactive libraries can
automati- cally overcome several problems related to bad resource usage at the
cost of a small overhead.Comment: O. Riganelli, D. Micucci and L. Mariani, "Policy Enforcement with
Proactive Libraries" 2017 IEEE/ACM 12th International Symposium on Software
Engineering for Adaptive and Self-Managing Systems (SEAMS), Buenos Aires,
Argentina, 2017, pp. 182-19
CORBYS cognitive control architecture for robotic follower
In this paper the novel generic cognitive robot control architecture CORBYS is presented. The objective of the CORBYS architecture is the integration of high-level cognitive modules to support robot functioning in dynamic environments including interacting with humans. This paper presents the preliminary integration of the CORBYS architecture to support a robotic follower. Experimental results on high-level empowerment-based trajectory planning have demonstrated the effectiveness of ROS-based communication between distributed modules developed in a multi-site research environment as typical for distributed collaborative projects such as CORBYS
A Proposal for a Multi-Drive Heterogeneous Modular Pipe- Inspection Micro-Robot
This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inside part of the pipes in order to detect damages, breaks and holes. Due to the di_erent types of pipes that exists, a modular approach with di_erent types of modules has been chosen in order to be able to adapt to the shape of the pipe and to chose the most appropriate gait. The micro-robot has been designed for narrow pipes, a _eld in which there are not many prototypes. The robot incorporates a camera module for visual inspection and several drive modules for locomotion and turn (helicoidal, inchworm, two degrees of freedom rotation). The control scheme is based on semi-distributed behavior control and is also described. A simulation environment is also presented for prototypes testing
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